In this paper, we consider the problem of designing a robust controller for a multivariable servomechanism of a free gyro-stabilized mirror system where there exists cross-coupling between the axes. The nonlinear dynamics of the system are first linearized and reformulated into an H problem. A reduced order output feedback controller is then designed using the asymptotic time-scale and eigenstructure assignment (ATEA) technique. The overall design has been implemented using a personal computer with C++ and tested on the actual gyro-stabilized mirror system. Our simulation and implementation results show that the design is very successful.

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